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<h1>mdl_nao</h1><p><span class="helptopic">Create model of Aldebaran NAO humanoid robot</span></p><pre style="width: 90%%;" class="examples">
mdl_nao
</pre>
<p>
Script creates several workspace variables

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> leftarm</td> <td>left-arm kinematics (4DOF)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> rightarm</td> <td>right-arm kinematics (4DOF)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> leftleg</td> <td>left-leg kinematics (6DOF)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> rightleg</td> <td>right-leg kinematics (6DOF)</td></tr>
</table>
<p>
which describes the kinematic characteristics of the arms and legs of
the NAO humanoid.

</p>
<h2>Reference</h2>
<ul>
  <li>"Forward and Inverse Kinematics for the NAO Humanoid Robot",
Nikolaos Kofinas,
Thesis, Technical University of Crete
July 2012.</li>
  <li>"Mechatronic design of NAO humanoid"
David Gouaillier etal.
IROS 2009, pp. 769-774.</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>the base transform of arms and legs are constant with respect to the
torso frame, which is assumed to be the constant value when the robot
is upright.  Clearly if the robot is walking these base transforms
will be dynamic.</li>
  <li>the first reference uses Modified DH notation, but doesn't explicitly
mention this, and the parameter tables have the wrong column headings
for Modified DH parameters.</li>
  <li>TODO; add joint limits</li>
  <li>TODO; add dynamic parameters</li>
</ul>
<h2>See also</h2>
<p>
<a href="SerialLink.html">SerialLink</a>, <a href="Revolute.html">Revolute</a></p>
<hr>

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